Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV
Improved possibilities for transport, as a consequence of diminishing ice mass in the Arctic, leads to more activity in these areas. Some of the greatest dangers of heightened presence in the Arctic is associated with sea ice. To decrease the dangers of sea ice in Arctic areas, fixed-wing UAVs can b...
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/2352442 2023-05-15T14:55:41+02:00 Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV Grindheim, Vegard Fossen, Thor Inge 2015 http://hdl.handle.net/11250/2352442 eng eng NTNU ntnudaim:12699 http://hdl.handle.net/11250/2352442 Kybernetikk og robotikk (2 årig) Master thesis 2015 ftntnutrondheimi 2019-09-17T06:51:06Z Improved possibilities for transport, as a consequence of diminishing ice mass in the Arctic, leads to more activity in these areas. Some of the greatest dangers of heightened presence in the Arctic is associated with sea ice. To decrease the dangers of sea ice in Arctic areas, fixed-wing UAVs can be used to find and tag dangerous ice with GPS based position transmitting beacons. This would allow traffic and offshore installations to operate more safely by knowing about dangers beforehand. This thesis will focus on the specific task of making a UAV system capable of hitting sea ice with a GPS beacon by an unguided air drop. This task has several parts, including calculating the aerial release point and guiding the UAV to this point with high accuracy. The combined drop accuracy and precision required from this system is to be able to hit sea ice with a radius of 10 meters 95% of the time. 10 m is approximately the radius of a small floe. Several approach methods were applied with different controllers and path planners to accurately guide the UAV to the aerial release point. The best combination of these used optimization techniques combined with a line-of-sight path-following controller. This combination acquired a theoretical accuracy of 1.63 m and a precision of 7.14 m from simulated results. This was combined to give a 95% chance of hitting within 8.77 m of the sea ice centre, which is better than the required accuracy set in this thesis. This result was unfortunately not confirmed by flight tests, as unforeseen circumstances prevented flight time when the system was completed. However, early flight tests validates the correctness of the simulation results to some degree. Master Thesis Arctic Sea ice NTNU Open Archive (Norwegian University of Science and Technology) Arctic |
institution |
Open Polar |
collection |
NTNU Open Archive (Norwegian University of Science and Technology) |
op_collection_id |
ftntnutrondheimi |
language |
English |
topic |
Kybernetikk og robotikk (2 årig) |
spellingShingle |
Kybernetikk og robotikk (2 årig) Grindheim, Vegard Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
topic_facet |
Kybernetikk og robotikk (2 årig) |
description |
Improved possibilities for transport, as a consequence of diminishing ice mass in the Arctic, leads to more activity in these areas. Some of the greatest dangers of heightened presence in the Arctic is associated with sea ice. To decrease the dangers of sea ice in Arctic areas, fixed-wing UAVs can be used to find and tag dangerous ice with GPS based position transmitting beacons. This would allow traffic and offshore installations to operate more safely by knowing about dangers beforehand. This thesis will focus on the specific task of making a UAV system capable of hitting sea ice with a GPS beacon by an unguided air drop. This task has several parts, including calculating the aerial release point and guiding the UAV to this point with high accuracy. The combined drop accuracy and precision required from this system is to be able to hit sea ice with a radius of 10 meters 95% of the time. 10 m is approximately the radius of a small floe. Several approach methods were applied with different controllers and path planners to accurately guide the UAV to the aerial release point. The best combination of these used optimization techniques combined with a line-of-sight path-following controller. This combination acquired a theoretical accuracy of 1.63 m and a precision of 7.14 m from simulated results. This was combined to give a 95% chance of hitting within 8.77 m of the sea ice centre, which is better than the required accuracy set in this thesis. This result was unfortunately not confirmed by flight tests, as unforeseen circumstances prevented flight time when the system was completed. However, early flight tests validates the correctness of the simulation results to some degree. |
author2 |
Fossen, Thor Inge |
format |
Master Thesis |
author |
Grindheim, Vegard |
author_facet |
Grindheim, Vegard |
author_sort |
Grindheim, Vegard |
title |
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
title_short |
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
title_full |
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
title_fullStr |
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
title_full_unstemmed |
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV |
title_sort |
accurate drop of a gps beacon using the x8 fixed-wing uav |
publisher |
NTNU |
publishDate |
2015 |
url |
http://hdl.handle.net/11250/2352442 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic Sea ice |
genre_facet |
Arctic Sea ice |
op_relation |
ntnudaim:12699 http://hdl.handle.net/11250/2352442 |
_version_ |
1766327705910902784 |